| 移动机器人分布式控制系统的设计 |
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| 引用本文： | 蔡自兴,邹小兵,王璐,段琢华,于金霞.移动机器人分布式控制系统的设计[J].中南大学学报(自然科学版),2005,36(5):727-732. |
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| 作者姓名： | 蔡自兴 邹小兵 王璐 段琢华 于金霞 |
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| 作者单位： | 中南大学,信息科学与工程学院,湖南,长沙,410083 |
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| 摘 要： | 针对自行研制的移动机器人(IMR01)设计并实现了一个分布式控制系统. IMR01采用激光雷达平台、多视觉系统作为环境感知器. 利用2-D平面扫描的激光测距传感器, 通过传感器平台俯仰与水平的转动实现在3-D环境感知, 建立地形的高度图以分析可行区域与障碍区域. 利用光纤陀螺仪、倾角仪及里程计等传感器构建移动机器人航向制导系统. 控制系统基于多系统集成的低功耗工控机(IPC), 在硬件上具有良好的扩展性能;通过无线网桥实现车载局域网与实验室监控系统的通讯. 分布式控制系统通过异构Agent间的协作实现复杂环境下的感知与导航控制.
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| 关 键 词： | 移动机器人 分布式控制 环境感知 异构智能体网络 |
| 文章编号： | 1672-7207(2005)05-0727-06 |
| 收稿时间： | 2005-01-28 |
| 修稿时间： | 2005年1月28日 |
Design of distributed control system for mobile robot |
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| CAI Zi-xing,ZOU Xiao-bing,WANG Lu,DUAN Zhuo-hua,YU Jin-xia.Design of distributed control system for mobile robot[J].Journal of Central South University:Science and Technology,2005,36(5):727-732. |
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| Authors: | CAI Zi-xing ZOU Xiao-bing WANG Lu DUAN Zhuo-hua YU Jin-xia |
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| Institution: | School of Information Science and Engineering, Central South University, Changsha 410083, China |
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| Abstract: | A distributed control architecture was designed and implemented for a mobile robot(IMR01).Laser scanner and multi computer vision system were equipped to detect the environment.A 2-D laser rangefinder Lms291 was adopted to build terrain map through the pitch and horizontal rotation of a sensor platform.An elevation map of terrain was built and used for terrain analysis.A navigation guidance system is composed of fibre-gyro,tilt sensor and odometer.The control system comprises a multiple industrial personal computer(IPC) system with low power-consuming CPU,and has good hardware scalability.Communication between the on-board local network robot and the remote monitor system in laboratory is realized through wireless local area network.The navigation control is implemented with the cooperation among heterogeneous Agents. |
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| Keywords: | mobile robot distributed control environmental perception heterogeneous Agent |
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